According to lead vocalist Mark Hall, the inspiration for "Courageous" came at the National Day of Prayer breakfast in 2008.
The two started talking about various topics until Hall told Kendrick about his church's Bible study program for fathers.
[3] According to the sheet music published by Musicnotes.com, it is set common time in the key of F♯ minor and has a tempo of 82 beats per minute.
James Christopher Monger of Allmusic selected it as a 'Track pick' and felt it contributed to a strong opening for Come to the Well.
[9] Tom Lennie of Cross Rhythms was less positive, calling the song "one of the least melodic tunes on offer on [Come to the Well].
[8] Lindsay Williams of Gospel Music Channel felt the song demonstrated how Matthew West's songwriting on Come to the Well made the album better.
[10] Alex "Tincan" Caldwell of Jesus Freak Hideout felt the song was an "apt challenge to men of God in this world who maintain spectator lifestyles and live vicariously through television shows and sports teams" and said the bridge made the song "thought-provoking".